/* Copyright (c) 2018-2019 University of Oxford
 * All rights reserved.
 *
 * Author: Marco Camurri (mcamurri@robots.ox.ac.uk)
 *
 * This file is part of pronto_quadruped,
 * a library for leg odometry on quadruped robots.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
 */

#pragma once

#include <pronto_quadruped/LegOdometer.hpp>
#include <ros/node_handle.h>
namespace pronto {
namespace quadruped {

class LegOdometerROS : public LegOdometer {
public:
    LegOdometerROS(ros::NodeHandle& nh,
                   FeetJacobians &feet_jacobians,
                   ForwardKinematics &forward_kinematics);
private:
    ros::NodeHandle& nh_;
};
}
}
